Motion vision for mobile robot localization

Abstract

This paper presents a localization method using motion vision. The proposed method locates a mobile robot relative to the object to which the robot moves. Two points are selected from the object as feature points. Consecutive two images containing the feature points are taken before and after the robot moves. Then, the poses of the robot can be determined according to the image coordinates of the feature points. A search algorithm is also presented to enhance the localization precision. It can find more correct image coordinates of the feature points based on the real detected image coordinates. Many experiments are performed on real images to justify this search algorithm. The results show that it is effective.